Ra::Core::DualQuaternion Class Reference

#include <Core/Math/DualQuaternion.hpp>

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Public Member Functions
EIGEN_MAKE_ALIGNED_OPERATOR_NEW	DualQuaternion ()
	Construct an uninitialized dual quaternion.
	DualQuaternion (const Quaternion &q0, const Quaternion &qe)
	Construct a dual-quaternion from two quaternions.
	DualQuaternion (const Core::Transform &tr)
	DualQuaternion (const DualQuaternion &other)=default
	Default copy constructor and assignment operator.
DualQuaternion &	operator= (const DualQuaternion &)=default
const Quaternion &	getQ0 () const
	Getters and setters.
void	setQ0 (const Quaternion &q0)
const Quaternion &	getQe () const
void	setQe (const Quaternion &qe)
DualQuaternion	operator+ (const DualQuaternion &other) const
	Operators.
DualQuaternion	operator* (Scalar scalar) const
DualQuaternion &	operator+= (const DualQuaternion &other)
DualQuaternion &	operator*= (Scalar scalar)
void	setFromTransform (const Transform &t)
	Other methods. More...
Transform	getTransform () const
	Return the corresponding rigid transform. Assume a unit dual quaternion.
void	normalize ()
Vector3	transform (const Vector3 &p) const
Vector3	rotate (const Vector3 &p) const
	Apply only the rotational part of the dual quaternion to the given vector.
Vector3	translate (const Vector3 &p) const
	Apply only the translational part of the dual quaternion to the given vector.

Detailed Description

Dual quaternions are based on the dual-numbers algebra, somewhat analogous to complex numbers, but with the imaginary unit e defined such as e*e = 0 ; and using quaternions as the non-dual and dual part. Unit dual quaternions can represent any rigid transformation (rotation + translation). A good reference. http://www.euclideanspace.com/maths/algebra/realNormedAlgebra/other/dualQuaternion/index.htm

Definition at line 18 of file DualQuaternion.hpp.

Constructor & Destructor Documentation

DualQuaternion()

Ra::Core::DualQuaternion::DualQuaternion ( const Core::Transform &  tr )

inlineexplicit

Construct a dual-quaternion from a rigid transform Any non-rigid component (e.g. scale and shear) will be ignored.

Definition at line 145 of file DualQuaternion.hpp.

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Member Function Documentation

normalize()

void Ra::Core::DualQuaternion::normalize ( )

inline

Normalize the quaternion with the dual-number norm (divides q0 and qe by q0's norm). Will assert if the norm is zero in debug builds.

Definition at line 120 of file DualQuaternion.hpp.

setFromTransform()

void Ra::Core::DualQuaternion::setFromTransform ( const Transform &  t )

inline

Other methods.

Set the dual-quaternion from a rigid transform. Any non-rigid component (e.g. scale and shear) will be ignored.

Definition at line 160 of file DualQuaternion.hpp.

transform()

Vector3 Ra::Core::DualQuaternion::transform ( const Vector3 &  p ) const

inline

Apply the transform represented by the dual quaternion to given vector. equivalent to translate( rotate (p)).

Definition at line 127 of file DualQuaternion.hpp.

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The documentation for this class was generated from the following file:

• /home/runner/work/Radium-Engine/Radium-Engine/src/Radium-Engine/src/Core/Math/DualQuaternion.hpp